CN108661112B - Using method of multifunctional excavator based on dust measurement - Google Patents
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- CN108661112B CN108661112B CN201810336207.4A CN201810336207A CN108661112B CN 108661112 B CN108661112 B CN 108661112B CN 201810336207 A CN201810336207 A CN 201810336207A CN 108661112 B CN108661112 B CN 108661112B
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- E—FIXED CONSTRUCTIONS
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- E02F9/26—Indicating devices
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- B01D—SEPARATION
- B01D47/00—Separating dispersed particles from gases, air or vapours by liquid as separating agent
- B01D47/06—Spray cleaning
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- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N15/00—Investigating characteristics of particles; Investigating permeability, pore-volume, or surface-area of porous materials
- G01N15/06—Investigating concentration of particle suspensions
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Abstract
The invention relates to a use method of a multifunctional excavator based on dust measurement, which comprises the step of using the multifunctional excavator based on dust measurement to stop outputting power of the excavator in time when a human body target pattern with an over-limit pattern area exists in an excavator scene image. By the invention, automatic injection type dust removal can be realized on the excavation site based on dust concentration detection.
Description
Technical Field
The invention relates to the field of constructional engineering, in particular to a using method of a multifunctional excavator based on dust measurement.
Background
First generation excavators: the advent of electric motors and internal combustion engines has provided excavators with advanced and appropriate electric devices, and various excavator products have been produced in succession. In 1899, the first electric excavator appeared. After the first world war, diesel engines were also used in excavators, and such diesel engine (or electric motor) driven mechanical excavators were the first generation excavators.
The second generation excavator: with the wide use of hydraulic technology, the excavator has a more scientifically applicable transmission device, and hydraulic transmission replaces mechanical transmission to be a great leap in the excavator technology. The first hydraulic excavator in germany was born in 1950. The mechanical transmission hydraulics are second generation excavators.
A third-generation excavator: the wide application of electronic technology, especially computer technology, makes the excavator have an automatic control system, and also makes the excavator develop towards high performance, automation and intellectualization. The germination of mechatronics occurred around 1965, while the adoption of mechatronics technology on mass-produced hydraulic excavators was around 1985, when the main objective was to save energy. Excavator electronization is the hallmark of third generation excavators.
Excavator industry manufacturers can broadly be divided into four categories. The excavator with more than 7 generations in China is occupied by foreign brands, the domestic brands mainly adopt small digging and medium digging, but the share of the domestic excavator is gradually improved, and the share of the domestic excavator is improved by 3.6% in 2017 on the same scale.
In the prior art, the field dust concentration of the excavator is too high, so that the field environment is seriously influenced, meanwhile, the judgment of whether human bodies exist around the excavator under the construction environment cannot be realized, and casualty accidents are easily caused.
Disclosure of Invention
In order to solve the problems, the invention provides a using method of a multifunctional excavator based on dust measurement, which can judge that a human body exists when a human body target pattern with an over-limit pattern area exists in an excavator field image, timely stop outputting power of the excavator, establish an automatic spraying dust removal mechanism based on dust concentration detection, ensure a field environment and improve the shooting precision of field shooting equipment.
More specifically, the invention has the following key points:
(1) an automatic spraying and dedusting mechanism based on dust concentration detection is established, so that the shooting precision of field shooting equipment is improved while the field environment is ensured;
(2) in the field shooting equipment, dust elimination processing with strength corresponding to the current dust concentration is performed on the shot image, so that the quality of the shot image is further improved;
(3) in the field image of the excavator, when a human body target pattern with an over-limit pattern area exists, the existence of a human body is judged, the power of the excavator is stopped to be output in time, and the emergency speed of field protection on the human body is shortened;
(4) histogram equalization processing is carried out only on the relatively more effective brightness signal component in the image so as to effectively reduce the operation time of image processing;
(5) in order to overcome the size difference between the sub-image to be processed and each reference object pattern, the sub-image to be processed is firstly subjected to size conversion processing so as to achieve the size consistency with the reference object pattern, and then a customized feature extraction mode is adopted for carrying out feature matching so as to accurately acquire the object type in the sub-image to be processed.
According to an aspect of the present invention, there is provided a method of using a multifunctional shovel based on dust measurement, the method including using the multifunctional shovel based on dust measurement to stop outputting power of the shovel in time when there is a human target pattern having an excessive pattern area in a shovel scene image, the multifunctional shovel based on dust measurement including:
the dust measuring instrument is arranged near a bucket of the excavator and used for carrying out field measurement on the dust concentration of a scene near the bucket of the excavator to obtain the current dust concentration and outputting the current dust concentration;
the water tank is arranged near a control room of the excavator and used for providing a storage space for the humidifying water body;
one end of the connecting pipeline is connected with the water tank, and the other end of the connecting pipeline is connected with the spray head and used for conveying the water body in the water tank to the spray head;
the spray head is arranged on a bucket of the excavator and used for receiving water from the connecting pipeline for on-site spraying;
the control valve is positioned at the connecting part of the connecting pipeline and the water tank, is connected with the dust measuring instrument and is used for receiving the current dust concentration and opening the connecting pipeline when the current dust concentration exceeds the limit so that the connecting pipeline can convey the water body in the water tank to the spray head for on-site dehumidification and injection;
the panoramic acquisition equipment is arranged at the top of the excavator, is respectively connected with the dust measuring instrument and the control valve, and comprises an image sensor and a dust eliminator, wherein the image sensor is used for carrying out panoramic image induction on the periphery of the excavator to obtain a real-time panoramic image, and the dust eliminator is respectively connected with the control valve and the image sensor and is used for executing dust elimination processing with strength corresponding to the current dust concentration on the real-time panoramic image when the current dust concentration exceeds the limit to obtain and output a dust elimination image;
and the equalization processing device is connected with the panoramic acquisition device and used for receiving the dust elimination image, and performing histogram equalization processing on the brightness signal in the dust elimination image while not performing any histogram equalization processing on the two color difference signals in the dust elimination image to obtain an equalized image.
Detailed Description
Embodiments of the present invention will be described in detail below.
At present, the excavator construction site is not good for protecting the environment, and the safety of site constructors cannot be guaranteed. In order to overcome the defects, the invention provides a using method of a multifunctional excavator based on dust measurement, which comprises the step of using the multifunctional excavator based on dust measurement to stop outputting power of the excavator in time when a human body target pattern with an over-limit pattern area exists in an excavator scene image, wherein the multifunctional excavator based on dust measurement can simultaneously solve the problems.
The multifunctional excavator based on dust measurement according to the embodiment of the present invention includes:
the dust measuring instrument is arranged near a bucket of the excavator and used for carrying out field measurement on the dust concentration of a scene near the bucket of the excavator to obtain the current dust concentration and outputting the current dust concentration;
the water tank is arranged near a control room of the excavator and used for providing a storage space for the humidifying water body;
one end of the connecting pipeline is connected with the water tank, and the other end of the connecting pipeline is connected with the spray head and used for conveying the water body in the water tank to the spray head;
the spray head is arranged on a bucket of the excavator and used for receiving water from the connecting pipeline for on-site spraying;
the control valve is positioned at the connecting part of the connecting pipeline and the water tank, is connected with the dust measuring instrument and is used for receiving the current dust concentration and opening the connecting pipeline when the current dust concentration exceeds the limit so that the connecting pipeline can convey the water body in the water tank to the spray head for on-site dehumidification and injection;
the panoramic acquisition equipment is arranged at the top of the excavator, is respectively connected with the dust measuring instrument and the control valve, and comprises an image sensor and a dust eliminator, wherein the image sensor is used for carrying out panoramic image induction on the periphery of the excavator to obtain a real-time panoramic image, and the dust eliminator is respectively connected with the control valve and the image sensor and is used for executing dust elimination processing with strength corresponding to the current dust concentration on the real-time panoramic image when the current dust concentration exceeds the limit to obtain and output a dust elimination image;
the equalization processing device is connected with the panoramic acquisition device and used for receiving the dust elimination image, and performing histogram equalization processing on a brightness signal in the dust elimination image while not performing any histogram equalization processing on two color difference signals in the dust elimination image to obtain an equalized image;
the edge analysis device is connected with the equalization processing device and used for receiving the equalization image and performing edge analysis on the equalization image so as to divide a plurality of areas formed by edges from the equalization image and output the areas as a plurality of edge sub-images;
the normalization processing device is connected with the edge analysis device and used for receiving each edge sub-image and executing the following processing on each edge sub-image: performing corresponding size conversion processing on the edge sub-images respectively based on the size of each reference object pattern to obtain each size conversion sub-image, wherein each size conversion sub-image has the same size as the corresponding reference object pattern, a characteristic value of each reference object image is obtained to be used as a reference characteristic value, the characteristic value of the size conversion sub-image corresponding to the reference object image is also obtained to be used as a conversion characteristic value, the absolute value of the difference between the two characteristic values is calculated to be used as the absolute value corresponding to the reference object image, and the object type corresponding to the reference object image with the smallest absolute value is selected to be output as the object identification type in the edge sub-image;
the human body analysis equipment is connected with the normalization processing equipment and is used for receiving one or more edge sub-images of the human body in the equalized image, wherein the object identification type is the object identification type, and sending a human body alarm signal when the edge sub-image with the image area exceeding the limit exists in the one or more edge sub-images, otherwise, sending a no-human body signal;
the power output equipment is connected with the diesel engine of the excavator and is used for outputting the power of the diesel engine of the excavator;
and the power driving equipment is connected with the power output equipment and used for controlling the power output equipment to stop outputting the power of the diesel engine of the excavator when the human body alarm signal is received.
Next, a detailed description of the structure of the multifunctional shovel based on dust measurement according to the present invention will be further described.
In the multifunctional shovel based on dust measurement:
the acquiring a feature value of each reference object image as a reference feature value includes: and taking the lower left corner of the reference object image as the origin of a coordinate system, acquiring a square to be analyzed in the reference object image, taking the lower left corner of the reference object image as the lower left corner, taking a preset length threshold as a side length and taking the square positioned in the reference object image as the side length, multiplying the square of the difference between the abscissa and the ordinate of each pixel point in the square to be analyzed by the pixel value of the square to be used as the characteristic value of the square, and adding the characteristic values of the pixel points in the square to be analyzed to obtain the characteristic value of the analysis square and use the characteristic value as the reference characteristic value.
In the multifunctional shovel based on dust measurement:
the acquiring a feature value of a size conversion sub-image corresponding to the reference object image as a conversion feature value includes: and taking the lower left corner of the size conversion sub-image as the origin of a coordinate system, acquiring a square to be analyzed in the size conversion sub-image, taking the lower left corner of the size conversion sub-image as the lower left corner, taking a preset length threshold as a side length and taking the square positioned in the size conversion sub-image as the square to be analyzed, multiplying the square of the difference between the abscissa and the ordinate of each pixel point in the square to be analyzed by the pixel value of the square to be analyzed to be used as the characteristic value of the square, and adding the characteristic values of the pixel points in the square to be analyzed to obtain the characteristic value of the analysis square and use the characteristic value as the conversion characteristic value.
In the multifunctional shovel based on dust measurement:
and the power driving device is also used for controlling the power output device to keep outputting the power of the diesel engine of the excavator when the no-human body signal is received.
The multifunctional excavator based on dust measurement can further comprise:
and the field display equipment is connected with the panoramic acquisition equipment and the dust measuring instrument and is used for displaying the dust elimination image and the current dust concentration on the field.
In the multifunctional shovel based on dust measurement:
the control valve is also used for closing the connecting pipeline when the current dust concentration is not over limit so as to stop the transmission of the connecting pipeline to the water body in the water tank.
In the multifunctional shovel based on dust measurement:
the image sensor is also used for directly outputting the real-time panoramic image as a dust elimination image when the current dust concentration is not over limit.
And in addition, the real-time sending equipment is connected with the panoramic acquisition equipment and the dust measuring instrument and is used for sending the dust elimination image and the current dust concentration in real time based on a ZIGBEE wireless channel.
ZigBee is a low power consumption local area network protocol based on IEEE802.15.4 standard. According to international standards, the ZigBee technology is a short-range, low-power consumption wireless communication technology. This name, also known as the purple bee protocol, is derived from the dance of bees in eight characters, since bees (bee) communicate the orientation information of pollen with partners by flying and "waving" (zig) flapping wings, i.e. bees form a communication network in the community by means of this. Its advantages are short distance, low complexity, self-organization, low power consumption and low data rate. The device is mainly suitable for the fields of automatic control and remote control, and can be embedded into various devices.
In short, ZigBee is an inexpensive and low-power-consumption short-range wireless networking communication technology. ZigBee is a wireless network protocol for low-speed short-distance transmission. The ZigBee protocol is, from bottom to top, a physical layer (PHY), a media access control layer (MAC), a Transport Layer (TL), a network layer (NWK), an application layer (APL), and the like. Wherein the physical layer and the medium access control layer comply with the provisions of the IEEE802.15.4 standard.
The multifunctional excavator based on dust measurement is adopted, aiming at the technical problems of severe field environment and poor safety of the excavator in the prior art, only relatively more effective brightness signal components in the image are subjected to histogram equalization processing so as to effectively reduce the operation time of image processing, in order to overcome the size difference between the sub-image to be processed and each reference object pattern, the size conversion processing is firstly carried out on the sub-image to be processed so as to achieve the size consistency with the reference object pattern, then the characteristic matching is carried out by adopting a customized characteristic extraction mode so as to accurately acquire the object type in the sub-image to be processed, on the basis, when a human target pattern with an over-limited pattern area exists in the field image of the excavator, the existence of a human body is judged, the power of the excavator is stopped to output in time, and the emergency speed of field protection on the human body is shortened, particularly, an automatic dust spraying and removing mechanism based on dust concentration detection is established, the shooting precision of the field shooting equipment is improved while the field environment is ensured, and in the field shooting equipment, dust removing processing with strength corresponding to the current dust concentration is performed on a shot image, so that the quality of the shot image is further improved.
It is to be understood that while the present invention has been described in conjunction with the preferred embodiments thereof, it is not intended to limit the invention to those embodiments. It will be apparent to those skilled in the art from this disclosure that many changes and modifications can be made, or equivalents modified, in the embodiments of the invention without departing from the scope of the invention. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention are still within the scope of the protection of the technical solution of the present invention, unless the contents of the technical solution of the present invention are departed.
Claims (4)
1. A method for using a multifunctional shovel based on dust measurement, the method comprising using the multifunctional shovel based on dust measurement to stop outputting power of the shovel in time when there is a human target pattern with an over-limit pattern area in a field image of the shovel, the multifunctional shovel based on dust measurement comprising:
the dust measuring instrument is arranged near a bucket of the excavator and used for carrying out field measurement on the dust concentration of a scene near the bucket of the excavator to obtain the current dust concentration and outputting the current dust concentration;
the water tank is arranged near a control room of the excavator and used for providing a storage space for the humidifying water body;
one end of the connecting pipeline is connected with the water tank, and the other end of the connecting pipeline is connected with the spray head and used for conveying the water body in the water tank to the spray head;
the spray head is arranged on a bucket of the excavator and used for receiving water from the connecting pipeline for on-site spraying;
the control valve is positioned at the connecting part of the connecting pipeline and the water tank, is connected with the dust measuring instrument and is used for receiving the current dust concentration and opening the connecting pipeline when the current dust concentration exceeds the limit so that the connecting pipeline can convey the water body in the water tank to the spray head for on-site dehumidification and injection;
the panoramic acquisition equipment is arranged at the top of the excavator, is respectively connected with the dust measuring instrument and the control valve, and comprises an image sensor and a dust eliminator, wherein the image sensor is used for carrying out panoramic image induction on the periphery of the excavator to obtain a real-time panoramic image, and the dust eliminator is respectively connected with the control valve and the image sensor and is used for executing dust elimination processing with strength corresponding to the current dust concentration on the real-time panoramic image when the current dust concentration exceeds the limit to obtain and output a dust elimination image;
the equalization processing device is connected with the panoramic acquisition device and used for receiving the dust elimination image, and performing histogram equalization processing on a brightness signal in the dust elimination image while not performing any histogram equalization processing on two color difference signals in the dust elimination image to obtain an equalized image;
the edge analysis device is connected with the equalization processing device and used for receiving the equalization image and performing edge analysis on the equalization image so as to divide a plurality of areas formed by edges from the equalization image and output the areas as a plurality of edge sub-images;
the normalization processing device is connected with the edge analysis device and used for receiving each edge sub-image and executing the following processing on each edge sub-image: performing corresponding size conversion processing on the edge sub-images respectively based on the size of each reference object pattern to obtain each size conversion sub-image, wherein each size conversion sub-image has the same size as the corresponding reference object pattern, a characteristic value of each reference object image is obtained to be used as a reference characteristic value, the characteristic value of the size conversion sub-image corresponding to the reference object image is also obtained to be used as a conversion characteristic value, the absolute value of the difference between the two characteristic values is calculated to be used as the absolute value corresponding to the reference object image, and the object type corresponding to the reference object image with the smallest absolute value is selected to be output as the object identification type in the edge sub-image;
the human body analysis equipment is connected with the normalization processing equipment and is used for receiving one or more edge sub-images of the human body in the equalized image, wherein the object identification type is the object identification type, and sending a human body alarm signal when the edge sub-image with the image area exceeding the limit exists in the one or more edge sub-images, otherwise, sending a no-human body signal;
the power output equipment is connected with the diesel engine of the excavator and is used for outputting the power of the diesel engine of the excavator;
the power driving device is connected with the power output device and used for controlling the power output device to stop outputting the power of the diesel engine of the excavator when the human body alarm signal is received;
the acquiring a feature value of each reference object image as a reference feature value includes: taking the lower left corner of the reference object image as the origin of a coordinate system, acquiring a square to be analyzed in the reference object image, taking the lower left corner of the reference object image as the lower left corner, taking a preset length threshold as a side length, and taking the square positioned in the reference object image as the side length, multiplying the square of the difference between the abscissa and the ordinate of each pixel point in the square to be analyzed by the pixel value of the square to be used as the characteristic value of the square, and adding the characteristic values of the pixel points in the square to be analyzed to obtain the characteristic value of the analysis square and use the characteristic value as the reference characteristic value;
the acquiring a feature value of a size conversion sub-image corresponding to the reference object image as a conversion feature value includes: taking the lower left corner of the size conversion sub-image as the origin of a coordinate system, acquiring a square to be analyzed in the size conversion sub-image, taking the lower left corner of the size conversion sub-image as the lower left corner, taking a preset length threshold as a side length and taking the square positioned in the size conversion sub-image as the square, multiplying the square of the difference between the abscissa and the ordinate of each pixel point in the square to be analyzed by the pixel value of the square to be analyzed to be used as the characteristic value of the square, and adding the characteristic values of the pixel points in the square to be analyzed to obtain the characteristic value of the analysis square and use the characteristic value as the conversion characteristic value;
and the power driving device is also used for controlling the power output device to keep outputting the power of the diesel engine of the excavator when the no-human body signal is received.
2. The method of claim 1, further comprising:
and the field display equipment is connected with the panoramic acquisition equipment and the dust measuring instrument and is used for displaying the dust elimination image and the current dust concentration on the field.
3. The method of claim 1, wherein:
the control valve is also used for closing the connecting pipeline when the current dust concentration is not over limit so as to stop the transmission of the connecting pipeline to the water body in the water tank.
4. The method of claim 1, wherein:
the image sensor is also used for directly outputting the real-time panoramic image as a dust elimination image when the current dust concentration is not over limit.
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